Attitude and Heading Reference AHRS-E304

This AHRS is equipped with our most accurate gyros and a precision magnetometer to provide you with attitude and heading reference data in applications where GPS data could be lost or is not available.


  • Solid State, Strapdown System
  • Low Cost, Low Power
  • Rugged, High Reliability
  • Vibration Resistant
  • Analog and RS-232 Serial Outputs
  • PC Heading Calibration
  • Two Year Limited Warranty
  • Engineering Support

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The signals from three solid state angular rate sensors are coordinate transformed and then integrated to produce attitude and heading outputs that reflect normal aircraft attitude coordinates. These attitude and heading signals are compared against a triaxial accelerometer and a triaxial fluxgate magnetometer to derive gyro drift error. These errors are filtered over a long time constant and are used to adjust biases in the system so that the long-term convergence of the system is to the vertical references and the magnetic heading reference. A velocity input is used to calculate compensations for centrifugal forces and velocity changes on the vertical reference to improve the overall stability and accuracy of the attitude and heading data.

This is a microprocessor-based system using a 16 bit A/D converter, a 14 bit D/A converter and an RS-232 interface. The microprocessor has stored parameters for all the sensor inputs to correct bias, scale factor, axis alignment, and others. The analog attitude and heading outputs are updated 71.11 times per second. The serial interface is highly configurable and provides access to almost all operational parameters.

The AHRS-E304 is useful for land, sea and airborne applications. It can be used to drive an attitude indicator flight display, for control and stabilization of remote piloted subs or aerial vehicles, and for robotics research and road surface measurement.



Range: Bank ±180°
Range: Elevation ±90°
Resolution: 0.02° Binary mode (14 bit)
Analog Scale Factor: 18°/V ±10V Bank
±5V Elevation
Accuracy: Static ±0.25°
* Accuracy: Dynamic 0.5%

Magnetic Heading

Range: 0° – 360°
Resolution: 0.02° Binary mode (14 bit)
Analog Scale Factor: 18°/V ±10V Output
Accuracy: Static ±1°
* Accuracy: Dynamic 0.5%

Angular Rate

Range: Roll, Pitch, Yaw ±100°/sec
Resolution: 0.025°/sec Binary mode (14 bit)
Analog Scale Factor: 10°/sec/V ±10V Output
Scale Factor Accuracy: 0.005
Bias: Roll, Pitch, Yaw < 0.2°/sec (Analog) ±0.02°/sec Binary mode (14 bit)
Non-Linearity: < 0.1% Full scale range
Bandwidth: 20 Hz
Noise: < 0.03°/sec rms


Range: X, Y, Z ±10g
Resolution: 4mg
Scale Factor Accuracy: 1%
Bias: X, Y, Z < 10mg
Non-Linearity: 0.1% Full scale range
Bandwidth: 3 Hz


Range: X, Y, Z ±1000 mGauss
Resolution: 0.1 mGauss Binary mode (14 bit)
Scale Factor Accuracy: 1%
Bias: X, Y, Z < 5 mGauss
Non-Linearity: < 0.01% Full scale range
Bandwidth: 10 Hz


Temperature: Operating -40°C to 85°C
Temperature: Storage -55°C to 85°C
Vibration: Operating 5g rms 20 Hz to 2 KHz
Vibration: Survival 10g rms 20 Hz to 2 KHz
Shock: Survival 500g 10mS ½ sine wave


Frame Rate: 71.1 Hz Maximum
Startup Time: Data 5 sec
Startup Time: Fully operational 10 sec
Input Power: 10 to 35VDC 4.0W
Input Current: 310mA @ 12VDC 165mA @ 24VDC
Input Velocity: (Optional) ±10VDC Full scale (±800kph)
Digital Output: RS-232
Analog Output: ±10VDC
Analog Output Impedance: 300 Ohm Per line


Axis Alignment: < 0.1°
Size: Including Mounting Flanges 3.24″W x 5.78″L x 4.68″H 8.2 x 14.7 x 11.9 (cm)
Weight: 35 oz (2.2 lb) 992 grams (1 Kg)
Connection: RS-232 / Analog Outputs 25 pin male “D” subminiature
Connection: Power 4 pin male MS-3110-P8-4P
* Assumes accurate velocity data.
Actual accuracy can be calculated as the listed percentage multiplied by the change in value over the entire dynamic maneuver.
Static heading accuracy is dependent on the magnetic environment.
This sensor will meet or exceed this spec within the 48 contiguous United States.
Specifications are subject to change without notice.
This product may be subject to export restrictions. Export Classification ECCN 7A994.



Title File Type
AHRS-E304 Spec Sheet pdf Download
AHRS-E304 Manual pdf Download